John 21:7-8
Then the disciple whom Jesus loved said to Peter, “It is the Lord!” As soon as Simon Peter heard him say, “It is the Lord,” he wrapped his outer garment around him (for he had taken it off) and jumped into the water. The other disciples followed in the boat, towing the net full of fish, for they were not far from shore, about a hundred yards.
For all his failings, his denial and habit of opening his mouth before thinking, you can’t deny Peter’s passion. As soon as he realises it’s his Lord, he’s in the water desperate to be with him. 
Lord, stir up my faith that I might be as eager to be with you.